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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="#friends">Friends</a> &#124;
<a href="classg2o_1_1_optimizable_graph_1_1_vertex-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">g2o::OptimizableGraph::Vertex Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>A general case <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html" title="A general case Vertex for optimization. ">Vertex</a> for optimization.  
 <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="optimizable__graph_8h_source.html">optimizable_graph.h</a>&gt;</code></p>
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Inheritance diagram for g2o::OptimizableGraph::Vertex:</div>
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Collaboration diagram for g2o::OptimizableGraph::Vertex:</div>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a8f7ac810cad82a004365c1221fd16234"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8f7ac810cad82a004365c1221fd16234">addUserData</a> (<a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *obs)</td></tr>
<tr class="separator:a8f7ac810cad82a004365c1221fd16234"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79afa60eb11928eeeb1b97f2d2a30732"><td class="memItemLeft" align="right" valign="top">virtual const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a79afa60eb11928eeeb1b97f2d2a30732">b</a> (int i) const =0</td></tr>
<tr class="memdesc:a79afa60eb11928eeeb1b97f2d2a30732"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the b vector element  <a href="#a79afa60eb11928eeeb1b97f2d2a30732">More...</a><br /></td></tr>
<tr class="separator:a79afa60eb11928eeeb1b97f2d2a30732"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2d92761ad2732b6e9b19bd52fa2a19b"><td class="memItemLeft" align="right" valign="top">virtual double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af2d92761ad2732b6e9b19bd52fa2a19b">b</a> (int i)=0</td></tr>
<tr class="separator:af2d92761ad2732b6e9b19bd52fa2a19b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84465a61c6d322f7d64833129cc7d55a"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a84465a61c6d322f7d64833129cc7d55a">bData</a> ()=0</td></tr>
<tr class="memdesc:a84465a61c6d322f7d64833129cc7d55a"><td class="mdescLeft">&#160;</td><td class="mdescRight">return a pointer to the b vector associated with this vertex  <a href="#a84465a61c6d322f7d64833129cc7d55a">More...</a><br /></td></tr>
<tr class="separator:a84465a61c6d322f7d64833129cc7d55a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab381120a2c00fc8ae90e5c298dfbb967"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_cache_container.html">CacheContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab381120a2c00fc8ae90e5c298dfbb967">cacheContainer</a> ()</td></tr>
<tr class="separator:ab381120a2c00fc8ae90e5c298dfbb967"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a803897f6bae25dece4d7e23330f0f9da"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a803897f6bae25dece4d7e23330f0f9da">clearQuadraticForm</a> ()=0</td></tr>
<tr class="memdesc:a803897f6bae25dece4d7e23330f0f9da"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the b vector part of this vertex to zero  <a href="#a803897f6bae25dece4d7e23330f0f9da">More...</a><br /></td></tr>
<tr class="separator:a803897f6bae25dece4d7e23330f0f9da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32e33f86c169e234a0dde54d1309e5e3"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a32e33f86c169e234a0dde54d1309e5e3">clone</a> () const</td></tr>
<tr class="memdesc:a32e33f86c169e234a0dde54d1309e5e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns a deep copy of the current vertex  <a href="#a32e33f86c169e234a0dde54d1309e5e3">More...</a><br /></td></tr>
<tr class="separator:a32e33f86c169e234a0dde54d1309e5e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d22b2e6832ae2ec040bfc0acb4cabb9"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4d22b2e6832ae2ec040bfc0acb4cabb9">colInHessian</a> () const</td></tr>
<tr class="memdesc:a4d22b2e6832ae2ec040bfc0acb4cabb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the row of this vertex in the Hessian  <a href="#a4d22b2e6832ae2ec040bfc0acb4cabb9">More...</a><br /></td></tr>
<tr class="separator:a4d22b2e6832ae2ec040bfc0acb4cabb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af544f0050ea6e05950fd6e53931bdf61"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af544f0050ea6e05950fd6e53931bdf61">copyB</a> (double *b_) const =0</td></tr>
<tr class="memdesc:af544f0050ea6e05950fd6e53931bdf61"><td class="mdescLeft">&#160;</td><td class="mdescRight">copies the b vector in the array b_  <a href="#af544f0050ea6e05950fd6e53931bdf61">More...</a><br /></td></tr>
<tr class="separator:af544f0050ea6e05950fd6e53931bdf61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86feed80301950b100142575b48e4fca"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a86feed80301950b100142575b48e4fca">dimension</a> () const</td></tr>
<tr class="memdesc:a86feed80301950b100142575b48e4fca"><td class="mdescLeft">&#160;</td><td class="mdescRight">dimension of the estimated state belonging to this node  <a href="#a86feed80301950b100142575b48e4fca">More...</a><br /></td></tr>
<tr class="separator:a86feed80301950b100142575b48e4fca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9509fb5c333988911312fc3d9187a9c3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a9509fb5c333988911312fc3d9187a9c3">discardTop</a> ()=0</td></tr>
<tr class="memdesc:a9509fb5c333988911312fc3d9187a9c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">pop the last element from the stack, without restoring the current estimate  <a href="#a9509fb5c333988911312fc3d9187a9c3">More...</a><br /></td></tr>
<tr class="separator:a9509fb5c333988911312fc3d9187a9c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9d94367931458af6ca3d5589801b1e6"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae9d94367931458af6ca3d5589801b1e6">estimateDimension</a> () const</td></tr>
<tr class="memdesc:ae9d94367931458af6ca3d5589801b1e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported  <a href="#ae9d94367931458af6ca3d5589801b1e6">More...</a><br /></td></tr>
<tr class="separator:ae9d94367931458af6ca3d5589801b1e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97294e6a1a573a44fe82ba36fc52c619"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">fixed</a> () const</td></tr>
<tr class="memdesc:a97294e6a1a573a44fe82ba36fc52c619"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node is fixed during the optimization  <a href="#a97294e6a1a573a44fe82ba36fc52c619">More...</a><br /></td></tr>
<tr class="separator:a97294e6a1a573a44fe82ba36fc52c619"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f22181a161d724e95631d5da742b66a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8f22181a161d724e95631d5da742b66a">G2O_ATTRIBUTE_DEPRECATED</a> (tempIndex() const)</td></tr>
<tr class="separator:a8f22181a161d724e95631d5da742b66a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abdcd545b6870b37135b055d18dae7a36"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#abdcd545b6870b37135b055d18dae7a36">G2O_ATTRIBUTE_DEPRECATED</a> (setTempIndex(int ti))</td></tr>
<tr class="separator:abdcd545b6870b37135b055d18dae7a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7303e52b5e41a0b5ee8751cce4095a57"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a7303e52b5e41a0b5ee8751cce4095a57">getEstimateData</a> (double *estimate) const</td></tr>
<tr class="memdesc:a7303e52b5e41a0b5ee8751cce4095a57"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="#a7303e52b5e41a0b5ee8751cce4095a57">More...</a><br /></td></tr>
<tr class="separator:a7303e52b5e41a0b5ee8751cce4095a57"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc3b27eab95474c09ad52e6931f1d635"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acc3b27eab95474c09ad52e6931f1d635">getEstimateData</a> (std::vector&lt; double &gt; &amp;estimate) const</td></tr>
<tr class="memdesc:acc3b27eab95474c09ad52e6931f1d635"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="#acc3b27eab95474c09ad52e6931f1d635">More...</a><br /></td></tr>
<tr class="separator:acc3b27eab95474c09ad52e6931f1d635"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9cae6014e4bc7df2565638ad0699958"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac9cae6014e4bc7df2565638ad0699958">getMinimalEstimateData</a> (double *estimate) const</td></tr>
<tr class="memdesc:ac9cae6014e4bc7df2565638ad0699958"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimate to an array of double  <a href="#ac9cae6014e4bc7df2565638ad0699958">More...</a><br /></td></tr>
<tr class="separator:ac9cae6014e4bc7df2565638ad0699958"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af928d21e7304cb21d75acf56bc40470a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af928d21e7304cb21d75acf56bc40470a">getMinimalEstimateData</a> (std::vector&lt; double &gt; &amp;estimate) const</td></tr>
<tr class="memdesc:af928d21e7304cb21d75acf56bc40470a"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimate to an array of double  <a href="#af928d21e7304cb21d75acf56bc40470a">More...</a><br /></td></tr>
<tr class="separator:af928d21e7304cb21d75acf56bc40470a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cf4be7e2442444d9d43a80cc8388b1e"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8cf4be7e2442444d9d43a80cc8388b1e">graph</a> () const</td></tr>
<tr class="separator:a8cf4be7e2442444d9d43a80cc8388b1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f845c6f0ba9a87ab15caaddba5a4037"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a3f845c6f0ba9a87ab15caaddba5a4037">graph</a> ()</td></tr>
<tr class="separator:a3f845c6f0ba9a87ab15caaddba5a4037"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af46fa4f0baa4c87e29b137f24e713acb"><td class="memItemLeft" align="right" valign="top">virtual const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af46fa4f0baa4c87e29b137f24e713acb">hessian</a> (int i, int j) const =0</td></tr>
<tr class="memdesc:af46fa4f0baa4c87e29b137f24e713acb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the element from the hessian matrix  <a href="#af46fa4f0baa4c87e29b137f24e713acb">More...</a><br /></td></tr>
<tr class="separator:af46fa4f0baa4c87e29b137f24e713acb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade95d46370bb9a86f64c4e591726ad62"><td class="memItemLeft" align="right" valign="top">virtual double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ade95d46370bb9a86f64c4e591726ad62">hessian</a> (int i, int j)=0</td></tr>
<tr class="separator:ade95d46370bb9a86f64c4e591726ad62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ec536d8c82d839e507d89c7a7e368ae"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4ec536d8c82d839e507d89c7a7e368ae">hessianData</a> ()=0</td></tr>
<tr class="separator:a4ec536d8c82d839e507d89c7a7e368ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adaed502500d9ddc9f1721aba635da4d6"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#adaed502500d9ddc9f1721aba635da4d6">hessianDeterminant</a> () const =0</td></tr>
<tr class="separator:adaed502500d9ddc9f1721aba635da4d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05a371cfa6314d0f2d209289b01cc922"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a05a371cfa6314d0f2d209289b01cc922">hessianIndex</a> () const</td></tr>
<tr class="memdesc:a05a371cfa6314d0f2d209289b01cc922"><td class="mdescLeft">&#160;</td><td class="mdescRight">temporary index of this node in the parameter vector obtained from linearization  <a href="#a05a371cfa6314d0f2d209289b01cc922">More...</a><br /></td></tr>
<tr class="separator:a05a371cfa6314d0f2d209289b01cc922"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb3dbe08fd20ca8feeeaecc63ce240c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a2eb3dbe08fd20ca8feeeaecc63ce240c">lockQuadraticForm</a> ()</td></tr>
<tr class="memdesc:a2eb3dbe08fd20ca8feeeaecc63ce240c"><td class="mdescLeft">&#160;</td><td class="mdescRight">lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.  <a href="#a2eb3dbe08fd20ca8feeeaecc63ce240c">More...</a><br /></td></tr>
<tr class="separator:a2eb3dbe08fd20ca8feeeaecc63ce240c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1008c0f7981a9fb11be3e3df5c4a9758"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1008c0f7981a9fb11be3e3df5c4a9758">mapHessianMemory</a> (double *d)=0</td></tr>
<tr class="memdesc:a1008c0f7981a9fb11be3e3df5c4a9758"><td class="mdescLeft">&#160;</td><td class="mdescRight">maps the internal matrix to some external memory location  <a href="#a1008c0f7981a9fb11be3e3df5c4a9758">More...</a><br /></td></tr>
<tr class="separator:a1008c0f7981a9fb11be3e3df5c4a9758"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a216d79149edcfa9f666140205159fde8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a216d79149edcfa9f666140205159fde8">marginalized</a> () const</td></tr>
<tr class="memdesc:a216d79149edcfa9f666140205159fde8"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node is marginalized out during the optimization  <a href="#a216d79149edcfa9f666140205159fde8">More...</a><br /></td></tr>
<tr class="separator:a216d79149edcfa9f666140205159fde8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae14027b23254032d30319eeb7f487ca5"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae14027b23254032d30319eeb7f487ca5">minimalEstimateDimension</a> () const</td></tr>
<tr class="memdesc:ae14027b23254032d30319eeb7f487ca5"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported  <a href="#ae14027b23254032d30319eeb7f487ca5">More...</a><br /></td></tr>
<tr class="separator:ae14027b23254032d30319eeb7f487ca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4357b634cfd884cd2fa1abb05832ec8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af4357b634cfd884cd2fa1abb05832ec8">oplus</a> (const double *v)</td></tr>
<tr class="memdesc:af4357b634cfd884cd2fa1abb05832ec8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the position of the node from the parameters in v.  <a href="#af4357b634cfd884cd2fa1abb05832ec8">More...</a><br /></td></tr>
<tr class="separator:af4357b634cfd884cd2fa1abb05832ec8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3e36d925dbda1c574a285826ade5909a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a3e36d925dbda1c574a285826ade5909a">pop</a> ()=0</td></tr>
<tr class="memdesc:a3e36d925dbda1c574a285826ade5909a"><td class="mdescLeft">&#160;</td><td class="mdescRight">restore the position of the vertex by retrieving the position from the stack  <a href="#a3e36d925dbda1c574a285826ade5909a">More...</a><br /></td></tr>
<tr class="separator:a3e36d925dbda1c574a285826ade5909a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa477ed33d30a01ed468f33bb2a2f2d9d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aa477ed33d30a01ed468f33bb2a2f2d9d">push</a> ()=0</td></tr>
<tr class="memdesc:aa477ed33d30a01ed468f33bb2a2f2d9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">backup the position of the vertex to a stack  <a href="#aa477ed33d30a01ed468f33bb2a2f2d9d">More...</a><br /></td></tr>
<tr class="separator:aa477ed33d30a01ed468f33bb2a2f2d9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a356c40d33c3f1e07afa938dfb4870230"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a356c40d33c3f1e07afa938dfb4870230">read</a> (std::istream &amp;is)=0</td></tr>
<tr class="memdesc:a356c40d33c3f1e07afa938dfb4870230"><td class="mdescLeft">&#160;</td><td class="mdescRight">read the vertex from a stream, i.e., the internal state of the vertex  <a href="#a356c40d33c3f1e07afa938dfb4870230">More...</a><br /></td></tr>
<tr class="separator:a356c40d33c3f1e07afa938dfb4870230"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa605891d46b99ed97accf659f10bc8d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aa605891d46b99ed97accf659f10bc8d5">setColInHessian</a> (int c)</td></tr>
<tr class="memdesc:aa605891d46b99ed97accf659f10bc8d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the row of this vertex in the Hessian  <a href="#aa605891d46b99ed97accf659f10bc8d5">More...</a><br /></td></tr>
<tr class="separator:aa605891d46b99ed97accf659f10bc8d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acebbe12160c0df7c859a349781badc30"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acebbe12160c0df7c859a349781badc30">setEstimateData</a> (const double *estimate)</td></tr>
<tr class="memdesc:acebbe12160c0df7c859a349781badc30"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a>  <a href="#acebbe12160c0df7c859a349781badc30">More...</a><br /></td></tr>
<tr class="separator:acebbe12160c0df7c859a349781badc30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cf16cd3b2e99169cdd6dfc139f926bc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1cf16cd3b2e99169cdd6dfc139f926bc">setEstimateData</a> (const std::vector&lt; double &gt; &amp;estimate)</td></tr>
<tr class="memdesc:a1cf16cd3b2e99169cdd6dfc139f926bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a>  <a href="#a1cf16cd3b2e99169cdd6dfc139f926bc">More...</a><br /></td></tr>
<tr class="separator:a1cf16cd3b2e99169cdd6dfc139f926bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af92ef49e1bcd6a8166afa151d367b905"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af92ef49e1bcd6a8166afa151d367b905">setFixed</a> (bool <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">fixed</a>)</td></tr>
<tr class="memdesc:af92ef49e1bcd6a8166afa151d367b905"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node should be considered fixed during the optimization  <a href="#af92ef49e1bcd6a8166afa151d367b905">More...</a><br /></td></tr>
<tr class="separator:af92ef49e1bcd6a8166afa151d367b905"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a440f24c0108be5247f3529369aa1e53c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a440f24c0108be5247f3529369aa1e53c">setHessianIndex</a> (int ti)</td></tr>
<tr class="memdesc:a440f24c0108be5247f3529369aa1e53c"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the temporary index of the vertex in the parameter blocks  <a href="#a440f24c0108be5247f3529369aa1e53c">More...</a><br /></td></tr>
<tr class="separator:a440f24c0108be5247f3529369aa1e53c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac57651173d6ce4bb4eebf8cb1d917551"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac57651173d6ce4bb4eebf8cb1d917551">setId</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a>)</td></tr>
<tr class="memdesc:ac57651173d6ce4bb4eebf8cb1d917551"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the id of the node in the graph be sure that the graph keeps consistent after changing the id  <a href="#ac57651173d6ce4bb4eebf8cb1d917551">More...</a><br /></td></tr>
<tr class="separator:ac57651173d6ce4bb4eebf8cb1d917551"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afabf1782886c78bf7b312bb1f2c90524"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#afabf1782886c78bf7b312bb1f2c90524">setMarginalized</a> (bool <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a216d79149edcfa9f666140205159fde8">marginalized</a>)</td></tr>
<tr class="memdesc:afabf1782886c78bf7b312bb1f2c90524"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node should be marginalized out during the optimization  <a href="#afabf1782886c78bf7b312bb1f2c90524">More...</a><br /></td></tr>
<tr class="separator:afabf1782886c78bf7b312bb1f2c90524"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57d42a1288d7377c593c91a8cf8a754c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a57d42a1288d7377c593c91a8cf8a754c">setMinimalEstimateData</a> (const double *estimate)</td></tr>
<tr class="memdesc:a57d42a1288d7377c593c91a8cf8a754c"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double.  <a href="#a57d42a1288d7377c593c91a8cf8a754c">More...</a><br /></td></tr>
<tr class="separator:a57d42a1288d7377c593c91a8cf8a754c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac41fda9360e81bf704681831b1df11f8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac41fda9360e81bf704681831b1df11f8">setMinimalEstimateData</a> (const std::vector&lt; double &gt; &amp;estimate)</td></tr>
<tr class="memdesc:ac41fda9360e81bf704681831b1df11f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double.  <a href="#ac41fda9360e81bf704681831b1df11f8">More...</a><br /></td></tr>
<tr class="separator:ac41fda9360e81bf704681831b1df11f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab10678592b5e707bf4abdc0ff6b8e4bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab10678592b5e707bf4abdc0ff6b8e4bf">setToOrigin</a> ()</td></tr>
<tr class="memdesc:ab10678592b5e707bf4abdc0ff6b8e4bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the node to the origin (used in the multilevel stuff)  <a href="#ab10678592b5e707bf4abdc0ff6b8e4bf">More...</a><br /></td></tr>
<tr class="separator:ab10678592b5e707bf4abdc0ff6b8e4bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a858d15a4fadebfc8bce0162ac675f608"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a858d15a4fadebfc8bce0162ac675f608">setUserData</a> (<a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *obs)</td></tr>
<tr class="separator:a858d15a4fadebfc8bce0162ac675f608"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61c4e7b7a7a61e1f287069a8cb01004f"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a61c4e7b7a7a61e1f287069a8cb01004f">solveDirect</a> (double lambda=0)=0</td></tr>
<tr class="memdesc:a61c4e7b7a7a61e1f287069a8cb01004f"><td class="mdescLeft">&#160;</td><td class="mdescRight">updates the current vertex with the direct solution x += H_ii  <a href="#a61c4e7b7a7a61e1f287069a8cb01004f">More...</a><br /></td></tr>
<tr class="separator:a61c4e7b7a7a61e1f287069a8cb01004f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a4ecc894d008d9c3806a3660e7dfe6f"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a0a4ecc894d008d9c3806a3660e7dfe6f">stackSize</a> () const =0</td></tr>
<tr class="memdesc:a0a4ecc894d008d9c3806a3660e7dfe6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the stack size  <a href="#a0a4ecc894d008d9c3806a3660e7dfe6f">More...</a><br /></td></tr>
<tr class="separator:a0a4ecc894d008d9c3806a3660e7dfe6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5badd602625433ee1ce8e2aa7bb3b2ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a5badd602625433ee1ce8e2aa7bb3b2ac">unlockQuadraticForm</a> ()</td></tr>
<tr class="memdesc:a5badd602625433ee1ce8e2aa7bb3b2ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">unlock the block of the hessian and the b vector associated with this vertex  <a href="#a5badd602625433ee1ce8e2aa7bb3b2ac">More...</a><br /></td></tr>
<tr class="separator:a5badd602625433ee1ce8e2aa7bb3b2ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5972c8ba6834c4dcb8a2319e9bf3070"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab5972c8ba6834c4dcb8a2319e9bf3070">updateCache</a> ()</td></tr>
<tr class="separator:ab5972c8ba6834c4dcb8a2319e9bf3070"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a506c9664e88d886ba612d3ea95b6c76b"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a506c9664e88d886ba612d3ea95b6c76b">userData</a> () const</td></tr>
<tr class="memdesc:a506c9664e88d886ba612d3ea95b6c76b"><td class="mdescLeft">&#160;</td><td class="mdescRight">the user data associated with this vertex  <a href="#a506c9664e88d886ba612d3ea95b6c76b">More...</a><br /></td></tr>
<tr class="separator:a506c9664e88d886ba612d3ea95b6c76b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a768057be134ffe93bc88b020d031eee5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a768057be134ffe93bc88b020d031eee5">userData</a> ()</td></tr>
<tr class="separator:a768057be134ffe93bc88b020d031eee5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f5fd4210abfa0f8b8e7dd279f561986"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1f5fd4210abfa0f8b8e7dd279f561986">Vertex</a> ()</td></tr>
<tr class="separator:a1f5fd4210abfa0f8b8e7dd279f561986"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cac277db656fddb5f844d9009d601eb"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4cac277db656fddb5f844d9009d601eb">write</a> (std::ostream &amp;os) const =0</td></tr>
<tr class="memdesc:a4cac277db656fddb5f844d9009d601eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">write the vertex to a stream  <a href="#a4cac277db656fddb5f844d9009d601eb">More...</a><br /></td></tr>
<tr class="separator:a4cac277db656fddb5f844d9009d601eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2208bfef95bba9670f13933d68fb929"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac2208bfef95bba9670f13933d68fb929">~Vertex</a> ()</td></tr>
<tr class="separator:ac2208bfef95bba9670f13933d68fb929"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_hyper_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></td></tr>
<tr class="memitem:a3794ff3310c1dc05619bf0b77eaa4caa inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">edges</a> () const</td></tr>
<tr class="memdesc:a3794ff3310c1dc05619bf0b77eaa4caa inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of hyper-edges that are leaving/entering in this vertex  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">More...</a><br /></td></tr>
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<tr class="memitem:a35cbf4ea796797bb5d9c35a41454e8fb inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">edges</a> ()</td></tr>
<tr class="memdesc:a35cbf4ea796797bb5d9c35a41454e8fb inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of hyper-edges that are leaving/entering in this vertex  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">More...</a><br /></td></tr>
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<tr class="memitem:a8f214b9065b88a3aafff7442380476ab inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraphElementType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8f214b9065b88a3aafff7442380476ab">elementType</a> () const</td></tr>
<tr class="memdesc:a8f214b9065b88a3aafff7442380476ab inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the type of the graph element, see HyperGraphElementType  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8f214b9065b88a3aafff7442380476ab">More...</a><br /></td></tr>
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<tr class="memitem:a48191960395856d1b686287489e53da3 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a> () const</td></tr>
<tr class="memdesc:a48191960395856d1b686287489e53da3 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the id  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">More...</a><br /></td></tr>
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<tr class="memitem:a7f2e986815608e5ac4a44671ed9794ae inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a7f2e986815608e5ac4a44671ed9794ae">Vertex</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a>=-1)</td></tr>
<tr class="memdesc:a7f2e986815608e5ac4a44671ed9794ae inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">creates a vertex having an ID specified by the argument  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a7f2e986815608e5ac4a44671ed9794ae">More...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">g2o::HyperGraph::HyperGraphElement</a></td></tr>
<tr class="memitem:ab02c385ff2bd544037e2bef795761b2e inherit pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">~HyperGraphElement</a> ()</td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a4537a46afb8d12c3f18c88ba9601c625"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4537a46afb8d12c3f18c88ba9601c625">oplusImpl</a> (const double *v)=0</td></tr>
<tr class="memdesc:a4537a46afb8d12c3f18c88ba9601c625"><td class="mdescLeft">&#160;</td><td class="mdescRight">update the position of the node from the parameters in v.  <a href="#a4537a46afb8d12c3f18c88ba9601c625">More...</a><br /></td></tr>
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<tr class="memitem:a35ab439967fd3a3d3e5608e3883d8487"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487">setEstimateDataImpl</a> (const double *)</td></tr>
<tr class="memdesc:a35ab439967fd3a3d3e5608e3883d8487"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="#a35ab439967fd3a3d3e5608e3883d8487">More...</a><br /></td></tr>
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<tr class="memitem:a088ecbdde86968f3896b2320f80ee396"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a088ecbdde86968f3896b2320f80ee396">setMinimalEstimateDataImpl</a> (const double *)</td></tr>
<tr class="memdesc:a088ecbdde86968f3896b2320f80ee396"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double  <a href="#a088ecbdde86968f3896b2320f80ee396">More...</a><br /></td></tr>
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<tr class="memitem:abd5fe36815f27a9c174ad41c2070c247"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#abd5fe36815f27a9c174ad41c2070c247">setToOriginImpl</a> ()=0</td></tr>
<tr class="memdesc:abd5fe36815f27a9c174ad41c2070c247"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the node to the origin (used in the multilevel stuff)  <a href="#abd5fe36815f27a9c174ad41c2070c247">More...</a><br /></td></tr>
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Protected Attributes</h2></td></tr>
<tr class="memitem:a6eed5b850221cd76f0af46b97860f2e8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_cache_container.html">CacheContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a6eed5b850221cd76f0af46b97860f2e8">_cacheContainer</a></td></tr>
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<tr class="memitem:add1f5a0236a175784a824524244f7085"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#add1f5a0236a175784a824524244f7085">_colInHessian</a></td></tr>
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<tr class="memitem:ab053ffd8851cd3b0f61576ffd349d68e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab053ffd8851cd3b0f61576ffd349d68e">_dimension</a></td></tr>
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<tr class="memitem:af98461471e6b58664a9fc4bba9340501"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af98461471e6b58664a9fc4bba9340501">_fixed</a></td></tr>
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<tr class="memitem:a6e14fd3ad8e531ead03b4d83cc7362ad"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a6e14fd3ad8e531ead03b4d83cc7362ad">_graph</a></td></tr>
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<tr class="memitem:aebf035f2c8177b5dac1bc650e0f0cf62"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aebf035f2c8177b5dac1bc650e0f0cf62">_hessianIndex</a></td></tr>
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<tr class="memitem:a5e9b3906c8ff800b9a0b16b10ed9fff0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a5e9b3906c8ff800b9a0b16b10ed9fff0">_marginalized</a></td></tr>
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<tr class="memitem:ab9b85ddb487ad4818bc53e0c00ff7bcc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_open_m_p_mutex.html">OpenMPMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab9b85ddb487ad4818bc53e0c00ff7bcc">_quadraticFormMutex</a></td></tr>
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<tr class="memitem:a71eb5fdfaf5c9a442135502e23504500"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a71eb5fdfaf5c9a442135502e23504500">_userData</a></td></tr>
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<tr class="inherit_header pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></td></tr>
<tr class="memitem:a8d732ebb72a545332a5bdc478b558430 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8d732ebb72a545332a5bdc478b558430">_edges</a></td></tr>
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<tr class="memitem:ac643fa36a6d666d64925281b11de9b92 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac643fa36a6d666d64925281b11de9b92">_id</a></td></tr>
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Friends</h2></td></tr>
<tr class="memitem:a45d35331ee3deca38c26d1efb6b961ae"><td class="memItemLeft" align="right" valign="top">struct&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a45d35331ee3deca38c26d1efb6b961ae">OptimizableGraph</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A general case <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html" title="A general case Vertex for optimization. ">Vertex</a> for optimization. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Reimplemented from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a4c3da5bcc97c960c43bc49cc2ade649c">g2o::HyperGraph::Vertex</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void g2o::OptimizableGraph::Vertex::addUserData </td>
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          <td class="paramtype"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td>
          <td class="paramname"><em>obs</em></td><td>)</td>
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          <td class="memname">virtual const double&amp; g2o::OptimizableGraph::Vertex::b </td>
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          <td class="paramname"><em>i</em></td><td>)</td>
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<p>get the b vector element </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td class="memname">virtual double&amp; g2o::OptimizableGraph::Vertex::b </td>
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          <td class="paramname"><em>i</em></td><td>)</td>
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<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td class="memname">virtual double* g2o::OptimizableGraph::Vertex::bData </td>
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<p>return a pointer to the b vector associated with this vertex </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td class="memname">virtual void g2o::OptimizableGraph::Vertex::clearQuadraticForm </td>
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<p>set the b vector part of this vertex to zero </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td class="memname"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> * g2o::OptimizableGraph::Vertex::clone </td>
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<p>returns a deep copy of the current vertex </p>

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          <td class="memname">int g2o::OptimizableGraph::Vertex::colInHessian </td>
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<p>get the row of this vertex in the Hessian </p>

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          <td class="memname">virtual int g2o::OptimizableGraph::Vertex::copyB </td>
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<p>copies the b vector in the array b_ </p>
<dl class="section return"><dt>Returns</dt><dd>the number of elements copied </dd></dl>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>dimension of the estimated state belonging to this node </p>

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<p>pop the last element from the stack, without restoring the current estimate </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported </p>

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<p>true =&gt; this node is fixed during the optimization </p>

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<p>writes the estimater to an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>writes the estimater to an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>writes the estimate to an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>writes the estimate to an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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          <td class="memname"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>* g2o::OptimizableGraph::Vertex::graph </td>
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          <td class="memname">virtual const double&amp; g2o::OptimizableGraph::Vertex::hessian </td>
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<p>get the element from the hessian matrix </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td> const</td>
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<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>temporary index of this node in the parameter vector obtained from linearization </p>

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<p>lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded. </p>

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<p>maps the internal matrix to some external memory location </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>true =&gt; this node is marginalized out during the optimization </p>

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<p>returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported </p>

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<p>Update the position of the node from the parameters in v. </p>
<p>Depends on the implementation of oplusImpl in derived classes to actually carry out the update. Will also call <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab5972c8ba6834c4dcb8a2319e9bf3070">updateCache()</a> to update the caches of depending on the vertex. </p>

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<p>update the position of the node from the parameters in v. </p>
<p>Implement in your class! </p>

<p>Implemented in <a class="el" href="classg2o_1_1_vertex_s_e3_expmap.html#a52592993e7ab5de6fe4bb0f9e00c4d39">g2o::VertexSE3Expmap</a>, <a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#abef7e4d10825caa129984f69251508c2">g2o::VertexSim3Expmap</a>, and <a class="el" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#aa2a13838edc46ed5395fee5c07c4c8ea">g2o::VertexSBAPointXYZ</a>.</p>

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<p>restore the position of the vertex by retrieving the position from the stack </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>backup the position of the vertex to a stack </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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          <td class="memname">virtual bool g2o::OptimizableGraph::Vertex::read </td>
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<p>read the vertex from a stream, i.e., the internal state of the vertex </p>

<p>Implemented in <a class="el" href="classg2o_1_1_vertex_s_e3_expmap.html#a4f5913373d24ea5963fffc6830406a52">g2o::VertexSE3Expmap</a>, <a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a16b4ef216ad1c4709a6fc6aa452d8e61">g2o::VertexSim3Expmap</a>, and <a class="el" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a3668aa23ed3fc7e2c3e6bddda7ddcd1a">g2o::VertexSBAPointXYZ</a>.</p>

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<p>set the row of this vertex in the Hessian </p>

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<p>sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a> </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a> </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>writes the estimater to an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>true =&gt; this node should be considered fixed during the optimization </p>

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<p>set the temporary index of the vertex in the parameter blocks </p>

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<p>sets the id of the node in the graph be sure that the graph keeps consistent after changing the id </p>

<p>Reimplemented from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac861d25447d8ff167d23c45458f7382f">g2o::HyperGraph::Vertex</a>.</p>

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<p>true =&gt; this node should be marginalized out during the optimization </p>

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<p>sets the initial estimate from an array of double. </p>
<p>Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a088ecbdde86968f3896b2320f80ee396" title="sets the initial estimate from an array of double ">setMinimalEstimateDataImpl()</a> </p><dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>sets the initial estimate from an array of double. </p>
<p>Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a088ecbdde86968f3896b2320f80ee396" title="sets the initial estimate from an array of double ">setMinimalEstimateDataImpl()</a> </p><dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>sets the initial estimate from an array of double </p>
<dl class="section return"><dt>Returns</dt><dd>true on success </dd></dl>

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<p>sets the node to the origin (used in the multilevel stuff) </p>

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<p>sets the node to the origin (used in the multilevel stuff) </p>

<p>Implemented in <a class="el" href="classg2o_1_1_vertex_s_e3_expmap.html#a0d12948c1fb058698bc58177db3806b1">g2o::VertexSE3Expmap</a>, <a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#ab076d5964ab55f95251a75bcf341ce05">g2o::VertexSim3Expmap</a>, and <a class="el" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a787b72465f35a3f30fcbb6b8056b47c4">g2o::VertexSBAPointXYZ</a>.</p>

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<p>updates the current vertex with the direct solution x += H_ii </p>
<dl class="section return"><dt>Returns</dt><dd>the determinant of the inverted hessian </dd></dl>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>return the stack size </p>

<p>Implemented in <a class="el" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">g2o::BaseVertex&lt; D, T &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">g2o::BaseVertex&lt; 7, Sim3 &gt;</a>, <a class="el" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">g2o::BaseVertex&lt; 3, Vector3d &gt;</a>, and <a class="el" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">g2o::BaseVertex&lt; 6, SE3Quat &gt;</a>.</p>

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<p>unlock the block of the hessian and the b vector associated with this vertex </p>

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<p>the user data associated with this vertex </p>

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<p>write the vertex to a stream </p>

<p>Implemented in <a class="el" href="classg2o_1_1_vertex_s_e3_expmap.html#ac1dfa6c71532f2e0bed236220bc1b604">g2o::VertexSE3Expmap</a>, <a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#ab5725f98a0d40f4cdb5d352a45c79fc7">g2o::VertexSim3Expmap</a>, and <a class="el" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a6b2fc33f2107c039d441e1bd2a17973a">g2o::VertexSBAPointXYZ</a>.</p>

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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>* g2o::OptimizableGraph::Vertex::_graph</td>
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          <td class="memname"><a class="el" href="classg2o_1_1_open_m_p_mutex.html">OpenMPMutex</a> g2o::OptimizableGraph::Vertex::_quadraticFormMutex</td>
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          <td class="memname"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a>* g2o::OptimizableGraph::Vertex::_userData</td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="optimizable__graph_8h_source.html">optimizable_graph.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="optimizable__graph_8cpp.html">optimizable_graph.cpp</a></li>
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